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<div class="title">correspondence_rejection_poly.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_POLY_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_POLY_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/correspondence_rejection.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;{</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="keyword">namespace </span>registration</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  {</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> SourceT, <span class="keyword">typename</span> TargetT&gt;</div>
<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html">   64</a></span>&#160;    <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html">CorrespondenceRejectorPoly</a>: <span class="keyword">public</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html">CorrespondenceRejector</a></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    {</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a74d516ca516f7421fd86a53dec1a57b1">CorrespondenceRejector::input_correspondences_</a>;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#ab97eb70d3661574301fe1f978576726d">CorrespondenceRejector::rejection_name_</a>;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#aa5996af869d7aaa6b8b8dc156038dd3f">CorrespondenceRejector::getClassName</a>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;CorrespondenceRejectorPoly&gt; Ptr;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const CorrespondenceRejectorPoly&gt; ConstPtr;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;SourceT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudSource</a>;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudSource::Ptr PointCloudSourcePtr;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudSource::ConstPtr PointCloudSourceConstPtr;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;TargetT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudTarget</a>;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudTarget::Ptr PointCloudTargetPtr;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudTarget::ConstPtr PointCloudTargetConstPtr;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#aadfc2c6fc8fb83f346d06cf47f49b702">   83</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#aadfc2c6fc8fb83f346d06cf47f49b702">CorrespondenceRejectorPoly</a> ()</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;          : iterations_ (10000)</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;          , cardinality_ (3)</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;          , similarity_threshold_ (0.75f)</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;          , similarity_threshold_squared_ (0.75f * 0.75f)</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        {</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;          rejection_name_ = <span class="stringliteral">&quot;CorrespondenceRejectorPoly&quot;</span>;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        }</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        getRemainingCorrespondences (<span class="keyword">const</span> pcl::Correspondences&amp; original_correspondences, </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;                                     pcl::Correspondences&amp; remaining_correspondences);</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#acc2f89f5758f9de93be9e2daa27af68b">  104</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#acc2f89f5758f9de93be9e2daa27af68b">setInputSource</a> (<span class="keyword">const</span> PointCloudSourceConstPtr &amp;cloud)</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        {</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;          input_ = cloud;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        }</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#ad276f9b13f87fb0a43cbaa12bc83da75">  113</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#ad276f9b13f87fb0a43cbaa12bc83da75">setInputCloud</a> (<span class="keyword">const</span> PointCloudSourceConstPtr &amp;cloud)</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        {</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;          PCL_WARN (<span class="stringliteral">&quot;[pcl::registration::%s::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.\n&quot;</span>,</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;                    getClassName ().c_str ());</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;          input_ = cloud;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        }</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#ac1fb853163ad7d9bfb3cfa2629bc5e5e">  124</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#ac1fb853163ad7d9bfb3cfa2629bc5e5e">setInputTarget</a> (<span class="keyword">const</span> PointCloudTargetConstPtr &amp;target)</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        {</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;          target_ = target;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        }</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a4a73f902b8554048c5c7356a6e5e94d7">  131</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a4a73f902b8554048c5c7356a6e5e94d7">requiresSourcePoints</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;<span class="keyword">        </span>{ <span class="keywordflow">return</span> (<span class="keyword">true</span>); }</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00136"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#ad58030d5d71f4a11c8ea4a6a453f5958">  136</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#ad58030d5d71f4a11c8ea4a6a453f5958">setSourcePoints</a> (pcl::PCLPointCloud2::ConstPtr cloud2)</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        { </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;          PointCloudSourcePtr cloud (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudSource</a>);</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;          fromPCLPointCloud2 (*cloud2, *cloud);</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;          setInputSource (cloud);</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        }</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a140261c30a95619e33d94b4d44373947">  145</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a140261c30a95619e33d94b4d44373947">requiresTargetPoints</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;<span class="keyword">        </span>{ <span class="keywordflow">return</span> (<span class="keyword">true</span>); }</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00150"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a8bafb7d0b19e66ad4bf51d5b6a148d64">  150</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a8bafb7d0b19e66ad4bf51d5b6a148d64">setTargetPoints</a> (pcl::PCLPointCloud2::ConstPtr cloud2)</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        { </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;          PointCloudTargetPtr cloud (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudTarget</a>);</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;          fromPCLPointCloud2 (*cloud2, *cloud);</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;          setInputTarget (cloud);</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        }</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00161"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a7ff2c8b9c339f3a2002903445c571ebc">  161</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a7ff2c8b9c339f3a2002903445c571ebc">setCardinality</a> (<span class="keywordtype">int</span> cardinality)</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        {</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;          cardinality_ = cardinality;</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        }</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00170"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#af51b83c930c0eded4255f0b125e0d264">  170</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#af51b83c930c0eded4255f0b125e0d264">getCardinality</a> ()</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        {</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;          <span class="keywordflow">return</span> (cardinality_);</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        }</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        </div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00180"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a82e96a355a8bda9f912ac4c1a1c5dc6e">  180</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a82e96a355a8bda9f912ac4c1a1c5dc6e">setSimilarityThreshold</a> (<span class="keywordtype">float</span> similarity_threshold)</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        {</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;          similarity_threshold_ = similarity_threshold;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;          similarity_threshold_squared_ = similarity_threshold * similarity_threshold;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        }</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">float</span> </div>
<div class="line"><a name="l00190"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a5bba3105e4e30c6892b89d381f190898">  190</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a5bba3105e4e30c6892b89d381f190898">getSimilarityThreshold</a> ()</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        {</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;          <span class="keywordflow">return</span> (similarity_threshold_);</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        }</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00199"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a930c9e70a639fbe1d4e4228cd1dfc57b">  199</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a930c9e70a639fbe1d4e4228cd1dfc57b">setIterations</a> (<span class="keywordtype">int</span> iterations)</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        {</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;          iterations_ = iterations;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        }</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        </div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00208"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a3b23f465b997d88b0b628e646f9dd3a3">  208</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a3b23f465b997d88b0b628e646f9dd3a3">getIterations</a> ()</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        {</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;          <span class="keywordflow">return</span> (iterations_);</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        }</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00219"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a1b0cbb221e66b90cccae29cf84a64147">  219</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a1b0cbb221e66b90cccae29cf84a64147">thresholdPolygon</a> (<span class="keyword">const</span> pcl::Correspondences&amp; corr, <span class="keyword">const</span> std::vector&lt;int&gt;&amp; idx)</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;        {</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;          <span class="keywordflow">if</span> (cardinality_ == 2) <span class="comment">// Special case: when two points are considered, we only have one edge</span></div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;          {</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;            <span class="keywordflow">return</span> (thresholdEdgeLength (corr[ idx[0] ].index_query, corr[ idx[1] ].index_query,</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;                                         corr[ idx[0] ].index_match, corr[ idx[1] ].index_match,</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;                                         cardinality_));</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;          }</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;          { <span class="comment">// Otherwise check all edges</span></div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; cardinality_; ++i)</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;              <span class="keywordflow">if</span> (!thresholdEdgeLength (corr[ idx[i] ].index_query, corr[ idx[(i+1)%cardinality_] ].index_query,</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;                                        corr[ idx[i] ].index_match, corr[ idx[(i+1)%cardinality_] ].index_match,</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;                                        similarity_threshold_squared_))</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;                <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;            </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;            <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;          }</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;        }</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00245"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a4e889746bd0466f9b48a92a46fb39e3e">  245</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a4e889746bd0466f9b48a92a46fb39e3e">thresholdPolygon</a> (<span class="keyword">const</span> std::vector&lt;int&gt;&amp; source_indices, <span class="keyword">const</span> std::vector&lt;int&gt;&amp; target_indices)</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;        {</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;          <span class="comment">// Convert indices to correspondences and an index vector pointing to each element</span></div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;          pcl::Correspondences corr (cardinality_);</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;          std::vector&lt;int&gt; idx (cardinality_);</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; cardinality_; ++i)</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;          {</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;            corr[i].index_query = source_indices[i];</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;            corr[i].index_match = target_indices[i];</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;            idx[i] = i;</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;          }</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;          </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;          <span class="keywordflow">return</span> (thresholdPolygon (corr, idx));</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;        }</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160; </div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00265"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a72457989897b8ae21c84db797998c8e0">  265</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a72457989897b8ae21c84db797998c8e0">applyRejection</a> (pcl::Correspondences &amp;correspondences)</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;        {</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;          getRemainingCorrespondences (*input_correspondences_, correspondences);</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;        }</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;        </div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;        <span class="keyword">inline</span> std::vector&lt;int&gt; </div>
<div class="line"><a name="l00277"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#adc6fa46eff68234bc35733343dce9d53">  277</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#adc6fa46eff68234bc35733343dce9d53">getUniqueRandomIndices</a> (<span class="keywordtype">int</span> n, <span class="keywordtype">int</span> k)</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;        {</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;          <span class="comment">// Marked sampled indices and sample counter</span></div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;          std::vector&lt;bool&gt; sampled (n, <span class="keyword">false</span>);</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;          <span class="keywordtype">int</span> samples = 0;</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;          <span class="comment">// Resulting unique indices</span></div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;          std::vector&lt;int&gt; result;</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;          result.reserve (k);</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;          <span class="keywordflow">do</span></div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;          {</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;            <span class="comment">// Pick a random index in the range</span></div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">int</span> idx = (std::rand () % n);</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;            <span class="comment">// If unique</span></div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;            <span class="keywordflow">if</span> (!sampled[idx])</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;            {</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;              <span class="comment">// Mark as sampled and increment result counter</span></div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;              sampled[idx] = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;              ++samples;</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;              <span class="comment">// Store</span></div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;              result.push_back (idx);</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;            }</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;          }</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;          <span class="keywordflow">while</span> (samples &lt; k);</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;          </div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;          <span class="keywordflow">return</span> (result);</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;        }</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;        </div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">float</span> </div>
<div class="line"><a name="l00310"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a382b6d87c8e6d2d0750214abd67f26a5">  310</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a382b6d87c8e6d2d0750214abd67f26a5">computeSquaredDistance</a> (<span class="keyword">const</span> SourceT&amp; p1, <span class="keyword">const</span> TargetT&amp; p2)</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;        {</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">float</span> dx = p2.x - p1.x;</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">float</span> dy = p2.y - p1.y;</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">float</span> dz = p2.z - p1.z;</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;          </div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;          <span class="keywordflow">return</span> (dx*dx + dy*dy + dz*dz);</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;        }</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;        </div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00328"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#aa6d7f1b7dfe41620829a2c957b4229e1">  328</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#aa6d7f1b7dfe41620829a2c957b4229e1">thresholdEdgeLength</a> (<span class="keywordtype">int</span> index_query_1,</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;                             <span class="keywordtype">int</span> index_query_2,</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;                             <span class="keywordtype">int</span> index_match_1,</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;                             <span class="keywordtype">int</span> index_match_2,</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;                             <span class="keywordtype">float</span> simsq)</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;        {</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;          <span class="comment">// Distance between source points</span></div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">float</span> dist_src = computeSquaredDistance ((*input_)[index_query_1], (*input_)[index_query_2]);</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;          <span class="comment">// Distance between target points</span></div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">float</span> dist_tgt = computeSquaredDistance ((*target_)[index_match_1], (*target_)[index_match_2]);</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;          <span class="comment">// Edge length similarity [0,1] where 1 is a perfect match</span></div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">float</span> edge_sim = (dist_src &lt; dist_tgt ? dist_src / dist_tgt : dist_tgt / dist_src);</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;          </div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;          <span class="keywordflow">return</span> (edge_sim &gt;= simsq);</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;        }</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;        </div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;        std::vector&lt;int&gt; </div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;        computeHistogram (<span class="keyword">const</span> std::vector&lt;float&gt;&amp; data, <span class="keywordtype">float</span> lower, <span class="keywordtype">float</span> upper, <span class="keywordtype">int</span> bins);</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;        </div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;        <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;        findThresholdOtsu (<span class="keyword">const</span> std::vector&lt;int&gt;&amp; histogram);</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160; </div>
<div class="line"><a name="l00363"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a5575ac6cf13ce0c4054ba040afde56b8">  363</a></span>&#160;        PointCloudSourceConstPtr <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a5575ac6cf13ce0c4054ba040afde56b8">input_</a>;</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160; </div>
<div class="line"><a name="l00366"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#abb0f66416db785a197d534755e562f19">  366</a></span>&#160;        PointCloudTargetConstPtr <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#abb0f66416db785a197d534755e562f19">target_</a>;</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;        </div>
<div class="line"><a name="l00369"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#aed548e72f310a9fc5a31cec68bc7777a">  369</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#aed548e72f310a9fc5a31cec68bc7777a">iterations_</a>;</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;        </div>
<div class="line"><a name="l00372"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#afa554cac284422e196653d72e502a610">  372</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#afa554cac284422e196653d72e502a610">cardinality_</a>;</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;        </div>
<div class="line"><a name="l00375"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a34b2739826ffc25631b21fcdb20b2415">  375</a></span>&#160;        <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a34b2739826ffc25631b21fcdb20b2415">similarity_threshold_</a>;</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;        </div>
<div class="line"><a name="l00378"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a07a4439a78a6f833ef62be904abd7742">  378</a></span>&#160;        <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a07a4439a78a6f833ef62be904abd7742">similarity_threshold_squared_</a>;</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;    };</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;  }</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;}</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160; </div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/impl/correspondence_rejection_poly.hpp&gt;</span></div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160; </div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_REGISTRATION_CORRESPONDENCE_REJECTION_POLY_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html">pcl::registration::CorrespondenceRejector</a></div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:60</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html_a74d516ca516f7421fd86a53dec1a57b1"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html#a74d516ca516f7421fd86a53dec1a57b1">pcl::registration::CorrespondenceRejector::input_correspondences_</a></div><div class="ttdeci">CorrespondencesConstPtr input_correspondences_</div><div class="ttdoc">The input correspondences.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:191</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html_aa5996af869d7aaa6b8b8dc156038dd3f"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html#aa5996af869d7aaa6b8b8dc156038dd3f">pcl::registration::CorrespondenceRejector::getClassName</a></div><div class="ttdeci">const std::string &amp; getClassName() const</div><div class="ttdoc">Get a string representation of the name of this class.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:135</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html_ab97eb70d3661574301fe1f978576726d"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html#ab97eb70d3661574301fe1f978576726d">pcl::registration::CorrespondenceRejector::rejection_name_</a></div><div class="ttdeci">std::string rejection_name_</div><div class="ttdoc">The name of the rejection method.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:188</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_poly_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html">pcl::registration::CorrespondenceRejectorPoly</a></div><div class="ttdoc">CorrespondenceRejectorPoly implements a correspondence rejection method that exploits low-level and p...</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_poly.h:65</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_poly_html_a07a4439a78a6f833ef62be904abd7742"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a07a4439a78a6f833ef62be904abd7742">pcl::registration::CorrespondenceRejectorPoly::similarity_threshold_squared_</a></div><div class="ttdeci">float similarity_threshold_squared_</div><div class="ttdoc">Squared value if similarity_threshold_, only for internal use</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_poly.h:378</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_poly_html_a140261c30a95619e33d94b4d44373947"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a140261c30a95619e33d94b4d44373947">pcl::registration::CorrespondenceRejectorPoly::requiresTargetPoints</a></div><div class="ttdeci">bool requiresTargetPoints() const</div><div class="ttdoc">See if this rejector requires a target cloud</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_poly.h:145</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_poly_html_a1b0cbb221e66b90cccae29cf84a64147"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a1b0cbb221e66b90cccae29cf84a64147">pcl::registration::CorrespondenceRejectorPoly::thresholdPolygon</a></div><div class="ttdeci">bool thresholdPolygon(const pcl::Correspondences &amp;corr, const std::vector&lt; int &gt; &amp;idx)</div><div class="ttdoc">Polygonal rejection of a single polygon, indexed by a subset of correspondences</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_poly.h:219</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_poly_html_a34b2739826ffc25631b21fcdb20b2415"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a34b2739826ffc25631b21fcdb20b2415">pcl::registration::CorrespondenceRejectorPoly::similarity_threshold_</a></div><div class="ttdeci">float similarity_threshold_</div><div class="ttdoc">Lower edge length threshold in [0,1] used for verifying polygon similarities, where 1 is a perfect ma...</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_poly.h:375</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_poly_html_a382b6d87c8e6d2d0750214abd67f26a5"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a382b6d87c8e6d2d0750214abd67f26a5">pcl::registration::CorrespondenceRejectorPoly::computeSquaredDistance</a></div><div class="ttdeci">float computeSquaredDistance(const SourceT &amp;p1, const TargetT &amp;p2)</div><div class="ttdoc">Squared Euclidean distance between two points using the members x, y and z</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_poly.h:310</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_poly_html_a3b23f465b997d88b0b628e646f9dd3a3"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a3b23f465b997d88b0b628e646f9dd3a3">pcl::registration::CorrespondenceRejectorPoly::getIterations</a></div><div class="ttdeci">int getIterations()</div><div class="ttdoc">Get the number of iterations</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_poly.h:208</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_poly_html_a4a73f902b8554048c5c7356a6e5e94d7"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a4a73f902b8554048c5c7356a6e5e94d7">pcl::registration::CorrespondenceRejectorPoly::requiresSourcePoints</a></div><div class="ttdeci">bool requiresSourcePoints() const</div><div class="ttdoc">See if this rejector requires source points</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_poly.h:131</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_poly_html_a4e889746bd0466f9b48a92a46fb39e3e"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a4e889746bd0466f9b48a92a46fb39e3e">pcl::registration::CorrespondenceRejectorPoly::thresholdPolygon</a></div><div class="ttdeci">bool thresholdPolygon(const std::vector&lt; int &gt; &amp;source_indices, const std::vector&lt; int &gt; &amp;target_indices)</div><div class="ttdoc">Polygonal rejection of a single polygon, indexed by two point index vectors</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_poly.h:245</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_poly_html_a5575ac6cf13ce0c4054ba040afde56b8"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a5575ac6cf13ce0c4054ba040afde56b8">pcl::registration::CorrespondenceRejectorPoly::input_</a></div><div class="ttdeci">PointCloudSourceConstPtr input_</div><div class="ttdoc">The input point cloud dataset</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_poly.h:363</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_poly_html_a5bba3105e4e30c6892b89d381f190898"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a5bba3105e4e30c6892b89d381f190898">pcl::registration::CorrespondenceRejectorPoly::getSimilarityThreshold</a></div><div class="ttdeci">float getSimilarityThreshold()</div><div class="ttdoc">Get the similarity threshold between edge lengths</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_poly.h:190</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_poly_html_a72457989897b8ae21c84db797998c8e0"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a72457989897b8ae21c84db797998c8e0">pcl::registration::CorrespondenceRejectorPoly::applyRejection</a></div><div class="ttdeci">void applyRejection(pcl::Correspondences &amp;correspondences)</div><div class="ttdoc">Apply the rejection algorithm.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_poly.h:265</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_poly_html_a7ff2c8b9c339f3a2002903445c571ebc"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a7ff2c8b9c339f3a2002903445c571ebc">pcl::registration::CorrespondenceRejectorPoly::setCardinality</a></div><div class="ttdeci">void setCardinality(int cardinality)</div><div class="ttdoc">Set the polygon cardinality</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_poly.h:161</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_poly_html_a82e96a355a8bda9f912ac4c1a1c5dc6e"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a82e96a355a8bda9f912ac4c1a1c5dc6e">pcl::registration::CorrespondenceRejectorPoly::setSimilarityThreshold</a></div><div class="ttdeci">void setSimilarityThreshold(float similarity_threshold)</div><div class="ttdoc">Set the similarity threshold in [0,1[ between edge lengths, where 1 is a perfect match</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_poly.h:180</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_poly_html_a8bafb7d0b19e66ad4bf51d5b6a148d64"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a8bafb7d0b19e66ad4bf51d5b6a148d64">pcl::registration::CorrespondenceRejectorPoly::setTargetPoints</a></div><div class="ttdeci">void setTargetPoints(pcl::PCLPointCloud2::ConstPtr cloud2)</div><div class="ttdoc">Method for setting the target cloud</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_poly.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_poly_html_a930c9e70a639fbe1d4e4228cd1dfc57b"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a930c9e70a639fbe1d4e4228cd1dfc57b">pcl::registration::CorrespondenceRejectorPoly::setIterations</a></div><div class="ttdeci">void setIterations(int iterations)</div><div class="ttdoc">Set the number of iterations</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_poly.h:199</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_poly_html_aa6d7f1b7dfe41620829a2c957b4229e1"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#aa6d7f1b7dfe41620829a2c957b4229e1">pcl::registration::CorrespondenceRejectorPoly::thresholdEdgeLength</a></div><div class="ttdeci">bool thresholdEdgeLength(int index_query_1, int index_query_2, int index_match_1, int index_match_2, float simsq)</div><div class="ttdoc">Edge length similarity thresholding</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_poly.h:328</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_poly_html_aadfc2c6fc8fb83f346d06cf47f49b702"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#aadfc2c6fc8fb83f346d06cf47f49b702">pcl::registration::CorrespondenceRejectorPoly::CorrespondenceRejectorPoly</a></div><div class="ttdeci">CorrespondenceRejectorPoly()</div><div class="ttdoc">Empty constructor</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_poly.h:83</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_poly_html_abb0f66416db785a197d534755e562f19"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#abb0f66416db785a197d534755e562f19">pcl::registration::CorrespondenceRejectorPoly::target_</a></div><div class="ttdeci">PointCloudTargetConstPtr target_</div><div class="ttdoc">The input point cloud dataset target</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_poly.h:366</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_poly_html_ac1fb853163ad7d9bfb3cfa2629bc5e5e"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#ac1fb853163ad7d9bfb3cfa2629bc5e5e">pcl::registration::CorrespondenceRejectorPoly::setInputTarget</a></div><div class="ttdeci">void setInputTarget(const PointCloudTargetConstPtr &amp;target)</div><div class="ttdoc">Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence dis...</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_poly.h:124</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_poly_html_acc2f89f5758f9de93be9e2daa27af68b"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#acc2f89f5758f9de93be9e2daa27af68b">pcl::registration::CorrespondenceRejectorPoly::setInputSource</a></div><div class="ttdeci">void setInputSource(const PointCloudSourceConstPtr &amp;cloud)</div><div class="ttdoc">Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence dis...</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_poly.h:104</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_poly_html_ad276f9b13f87fb0a43cbaa12bc83da75"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#ad276f9b13f87fb0a43cbaa12bc83da75">pcl::registration::CorrespondenceRejectorPoly::setInputCloud</a></div><div class="ttdeci">void setInputCloud(const PointCloudSourceConstPtr &amp;cloud)</div><div class="ttdoc">Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence dis...</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_poly.h:113</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_poly_html_ad58030d5d71f4a11c8ea4a6a453f5958"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#ad58030d5d71f4a11c8ea4a6a453f5958">pcl::registration::CorrespondenceRejectorPoly::setSourcePoints</a></div><div class="ttdeci">void setSourcePoints(pcl::PCLPointCloud2::ConstPtr cloud2)</div><div class="ttdoc">Blob method for setting the source cloud</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_poly.h:136</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_poly_html_adc6fa46eff68234bc35733343dce9d53"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#adc6fa46eff68234bc35733343dce9d53">pcl::registration::CorrespondenceRejectorPoly::getUniqueRandomIndices</a></div><div class="ttdeci">std::vector&lt; int &gt; getUniqueRandomIndices(int n, int k)</div><div class="ttdoc">Get k unique random indices in range {0,...,n-1} (sampling without replacement)</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_poly.h:277</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_poly_html_aed548e72f310a9fc5a31cec68bc7777a"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#aed548e72f310a9fc5a31cec68bc7777a">pcl::registration::CorrespondenceRejectorPoly::iterations_</a></div><div class="ttdeci">int iterations_</div><div class="ttdoc">Number of iterations to run</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_poly.h:369</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_poly_html_af51b83c930c0eded4255f0b125e0d264"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#af51b83c930c0eded4255f0b125e0d264">pcl::registration::CorrespondenceRejectorPoly::getCardinality</a></div><div class="ttdeci">int getCardinality()</div><div class="ttdoc">Get the polygon cardinality</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_poly.h:170</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_poly_html_afa554cac284422e196653d72e502a610"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#afa554cac284422e196653d72e502a610">pcl::registration::CorrespondenceRejectorPoly::cardinality_</a></div><div class="ttdeci">int cardinality_</div><div class="ttdoc">The polygon cardinality used during rejection</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_poly.h:372</div></div>
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